CN107310707B - Unmanned surface vehicle - Google Patents

Unmanned surface vehicle Download PDF

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Publication number
CN107310707B
CN107310707B CN201710556201.3A CN201710556201A CN107310707B CN 107310707 B CN107310707 B CN 107310707B CN 201710556201 A CN201710556201 A CN 201710556201A CN 107310707 B CN107310707 B CN 107310707B
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China
Prior art keywords
driving
connecting rod
cabin
wing panel
wing
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CN201710556201.3A
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Chinese (zh)
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CN107310707A (en
Inventor
于振江
常宗瑜
郑中强
陈忠鑫
张扬
卢桂桥
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Ocean University of China
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Ocean University of China
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H19/00—Marine propulsion not otherwise provided for
    • B63H19/02—Marine propulsion not otherwise provided for by using energy derived from movement of ambient water, e.g. from rolling or pitching of vessels
    • B63H19/04—Marine propulsion not otherwise provided for by using energy derived from movement of ambient water, e.g. from rolling or pitching of vessels propelled by water current
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/06—Steering by rudders
    • B63H25/08—Steering gear
    • B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21W—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES F21K, F21L, F21S and F21V, RELATING TO USES OR APPLICATIONS OF LIGHTING DEVICES OR SYSTEMS
    • F21W2102/00—Exterior vehicle lighting devices for illuminating purposes
    • F21W2102/10—Arrangement or contour of the emitted light
    • F21W2102/17—Arrangement or contour of the emitted light for regions other than high beam or low beam
    • F21W2102/19—Arrangement or contour of the emitted light for regions other than high beam or low beam for curves
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T70/00—Maritime or waterways transport
    • Y02T70/50—Measures to reduce greenhouse gas emissions related to the propulsion system
    • Y02T70/5218—Less carbon-intensive fuels, e.g. natural gas, biofuels
    • Y02T70/5236—Renewable or hybrid-electric solutions

Abstract

The invention discloses an unmanned water surface vehicle, which comprises a vehicle body, a wave energy driving device, a communication system and an environment monitoring sensor assembly, wherein the vehicle body is provided with a plurality of sensors, each sensor is provided with a plurality of sensors, and each sensor is provided with a sensor module for detecting the wave energy driving device to detect the wave energy of the vehicle body: the aircraft body assembly comprises an aircraft hull, a solar panel and a lithium battery pack; the wave energy driving device includes: the device comprises a wave energy component for acquiring power of the aircraft, a steering engine component for controlling the course of the aircraft, and a driving component for controlling the angle of a driving fin; the communication system includes a communication antenna, a GPS and a controller. According to the unmanned water surface vehicle, wave energy is used as a direct driving force, forward power is obtained through pitching motion of the vehicle under the action of the wave, steering engine components control steering of the vehicle, and positioning and track control of the unmanned water surface vehicle are achieved by controlling steering engine steering lamps through positioning information of a communication system; the hydrologic information and the like acquired by the environmental monitoring sensor are transmitted to the ground station through the communication system.

Description

Unmanned surface vehicle
Technical Field
The invention relates to an unmanned water surface vehicle, in particular to a water surface unmanned vehicle capable of generating autonomous power by driving the vehicle to move in a pitching mode through waves, and belongs to the technical field of wave gliders.
Background
With increasing importance on marine environmental protection and development of large-scale marine resources, various marine maneuver observation devices are increasingly applied. At present, AUV, unmanned ships, ROV and the like are widely applied to the fields of ocean science investigation, ocean engineering, mariculture and the like. However, conventional motorized viewing devices typically employ fuel or batteries as a power source, limiting their ability to view over a long period of time and a wide range. The wave energy is directly utilized as a power source, so that the energy supply problem of the unmanned maneuvering observation device can be solved. Therefore, it is important to design an unmanned water surface vehicle capable of effectively utilizing wave energy as driving force to realize long-time and large-scale ocean monitoring, development and scientific research.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the unmanned water surface vehicle, wherein the driving mechanism is directly positioned on the unmanned water surface vehicle and does not need to carry energy for driving; the cable connection in the middle is removed, so that the device can be more suitable for different wave environments; the elastic system, the limiting system and the driving system are internally arranged in the connecting rod and are sealed, and the movement of the aircraft is monitored through the speed sensor, so that the process of negative direction driving is avoided; meanwhile, the device has the characteristics of better tightness and longer service life, and has better maneuverability and cruising ability. According to the unmanned water surface vehicle, the wave energy is used as a direct driving force, forward power is obtained through pitching motion of the vehicle under the action of the wave, steering engine components control steering of the vehicle, and positioning information of a communication system is utilized to realize positioning and track control of the unmanned water surface vehicle by controlling steering engine steering; the hydrologic information and the like acquired by the environmental monitoring sensor are transmitted to the ground station through the communication system.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
an unmanned water surface vehicle comprises a vehicle hull, a control navigation cabin and a rudder cabin, wherein the control navigation cabin is positioned at the head part of the vehicle hull, and the rudder cabin is positioned at the tail part of the vehicle hull; the method is characterized in that:
the ship body of the aircraft is provided with a lithium battery pack and a controller in a cabin, the top surface of a cabin cover plate of the ship body is provided with a solar panel, and the solar panel is connected with a lithium battery through a solar panel controller; the cabin cover plate seals the lithium battery pack and the controller in the cabin of the ship body of the aircraft, so that the normal operation under a severe environment is ensured; the lithium battery pack is a power storage device of a solar panel, the solar panel is connected with the lithium battery, and converted electric energy is stored in the lithium battery to supply power for the power utilization component;
the navigation control cabin is characterized in that a driving controller, a speed sensor and a GPS module are arranged in the cabin body of the control navigation cabin, and a navigation control cabin cover plate of the control navigation cabin seals the driving controller, the speed sensor and the GPS module in the cabin body of the control navigation cabin, so that the normal operation under a severe environment is ensured; a front connecting rod is arranged at the bottom of the cabin body and close to the head, front driving fins are arranged at two ends of the front connecting rod, and a driving motor is arranged in the front connecting rod; the signal output end of the speed sensor is connected with the signal input end of the driving controller, the signal output end of the driving controller is connected with the driving motor, and the driving motor is connected with the front driving fin;
the steering engine cabin is characterized in that a steering engine is arranged in the cabin body of the steering engine cabin, a communication radio station is arranged on the top surface of a steering engine cabin cover, and the steering engine is sealed in the cabin body of the steering engine cabin by the steering engine cabin cover, so that normal operation under a severe environment is ensured; a steering engine wing is arranged at the bottom of the cabin body and close to the tail part, the steering engine wing is connected with a steering engine, the steering engine is connected with a signal output end of a controller, a signal input end of the controller is connected with a signal output end of a communication radio station, and a signal input end of the communication radio station is communicated with a signal output end of a GPS module; the position of cabin body bottom near the head is provided with the back connecting rod, and the both ends of back connecting rod are provided with back drive fin, and the inside driving motor that is provided with of back connecting rod equally, and this driving motor is connected with back drive fin, and is connected with the signal output part of the drive controller in the control navigation cabin.
In the technical scheme, the navigation control cabin is characterized in that a front supporting rod is vertically arranged at the bottom of the cabin body close to the head, a front supporting plate is arranged at the tail end of the front supporting rod, and the plate surface of the front supporting plate is perpendicular to the front supporting rod; the lower part of the front supporting rod is provided with a front connecting rod which is vertical to the front supporting rod and is positioned above the front supporting plate; the two ends of the front connecting rod are respectively connected with a piece of front driving wing piece, the front driving wing piece is made of carbon fiber, and the wing piece plane of the front driving wing piece is perpendicular to the front supporting rod;
further, the front connecting rod is internally provided with a driving gear, a driven gear, a wing connecting rod, a bearing, a limiting block and a pressure spring besides a driving motor; wherein: the driving gear is meshed with the driven gear, and the diameters of the driving gear and the driven gear are parallel to the diameter of the front connecting rod; the driving motor is connected with a driving connecting rod, and the driving connecting rod penetrates through the driving gear; the wing panel connecting rod sequentially penetrates through the driven gear, the bearing and the pressure spring; the bearing and the driving motor are positioned on the same side of the driving gear and the driven gear; the bearing is connected with an external front driving wing panel through a wing panel connecting rod; the other end of the wing panel connecting rod is provided with a limiting block, the pressure spring is a C-shaped spring, the two ends of the pressure spring are opposite to the upper surface and the lower surface of the limiting block, and when the limiting block rotates upwards or downwards along with the wing panel connecting rod, the upper surface or the lower surface of the limiting block contacts with the upper end or the lower surface of the pressure spring so as to be limited by pressure;
furthermore, the front connecting rod is also provided with a sealing cover, and the driving motor, the driving connecting rod, the driving gear, the driven gear, the bearing, the limiting block and the pressure spring are sealed inside the front connecting rod, so that the normal operation under a severe environment is ensured; the sealing cover is provided with a hole, the diameter of the hole is equal to that of the wing panel connecting rod, and the wing panel connecting rod passes through the hole to be connected with the external front driving wing panel;
further, the speed sensor detects the upward or downward speed of the ship body along with waves, the driver controller controls the driving motor to operate after receiving the motion information sent by the speed sensor, the front driving wing panel rotates around the bearing under the control of the driving motor so as to deflect upwards or downwards to a fixed angle of 0-45 degrees, and the water flow generates downward/upward and forward driving force on the front driving wing panel, so that power is obtained for the aircraft; when the front driving wing panel deflects the angle again under the action of water flow, the front driving wing panel drives the wing panel connecting rod to rotate, the limiting block on the wing panel connecting rod also rotates along with the wing panel connecting rod, and at the moment, the pressure spring is pressed to limit the wing panel connecting rod to rotate, and the front driving wing panel also stops rotating along with the wing panel connecting rod.
In the technical scheme, the rudder cabin is characterized in that a rear supporting rod is vertically arranged at the position, close to the head, of the bottom of the cabin body, the tail end of the rear supporting rod is provided with a rear supporting plate, and the plate surface of the rear supporting plate is perpendicular to the rear supporting rod; the lower part of the rear supporting rod is provided with a rear connecting rod which is vertical to the rear supporting rod and is positioned above the rear supporting plate; two ends of the rear connecting rod are respectively connected with a piece of rear driving wing piece, the rear driving wing piece is made of carbon fiber, and the wing piece plane of the rear driving wing piece is perpendicular to the rear supporting rod;
further, the rear connecting rod has the same internal structure as the front connecting rod, namely a driving motor, a driving gear, a driven gear, a wing panel connecting rod, a bearing, a limiting block and a pressure spring are arranged in the rear connecting rod; wherein: the driving gear is meshed with the driven gear, and the diameters of the driving gear and the driven gear are parallel to the diameter of the front connecting rod; the driving motor is connected with a driving connecting rod, and the driving connecting rod penetrates through the driving gear; the wing panel connecting rod sequentially penetrates through the driven gear, the bearing and the pressure spring; the bearing and the driving motor are positioned on the same side of the driving gear and the driven gear; the bearing is connected with an external rear driving wing panel through a wing panel connecting rod; the other end of the wing panel connecting rod is provided with a limiting block, the pressure spring is a C-shaped spring, the two ends of the pressure spring are opposite to the upper surface and the lower surface of the limiting block, and when the limiting block rotates upwards or downwards along with the wing panel connecting rod, the upper surface or the lower surface of the limiting block contacts with the upper end or the lower surface of the pressure spring so as to be limited by pressure;
furthermore, the rear connecting rod is also provided with a sealing cover, and the driving motor, the driving connecting rod, the driving gear, the driven gear, the bearing, the limiting block and the pressure spring are sealed inside the rear connecting rod, so that normal operation under severe environment is ensured; the sealing cover is provided with a hole, the diameter of the hole is equal to that of the wing panel connecting rod, and the wing panel connecting rod passes through the hole to be connected with an external rear driving wing panel;
further, the operation modes of the parts and the rear driving fins in the rear connecting rod are the same as those of the front connecting rod and the front driving fins: the speed sensor detects the upward or downward speed of the ship body along with waves, the driver controller receives the motion information sent by the speed sensor and then controls the driving motor in the rear connecting rod to operate, the rear driving wing panel rotates around the bearing under the control of the driving motor so as to deflect upwards or downwards to a fixed angle of 0-45 degrees, and the water flow generates downward/upward and forward driving force for the rear driving wing panel, so that the power is obtained for the aircraft; when the rear driving wing panel deflects an angle again under the action of water flow, the rear driving wing panel drives the wing panel connecting rod to rotate, the limiting block on the wing panel connecting rod also rotates along with the wing panel connecting rod, and at the moment, the pressure spring is pressed to limit the wing panel connecting rod to rotate, and the rear driving wing panel also stops rotating along with the wing panel connecting rod.
In the technical scheme, the GPS module sends positioning information to the communication radio station, and the controller receives the information of the communication radio station and then controls the steering engine to run so as to control the steering engine wing to rotate to realize the positioning, steering and track control of the unmanned water surface vehicle.
Among the above-mentioned technical scheme, unmanned surface vehicle still include detection sensor subassembly, detection sensor subassembly is for detecting the sensor of various hydrologic information, carries on in the bottom, the side or the front portion of vehicle hull, the hydrologic information output of sensor is connected with the hydrologic information input of communication radio station, the hydrologic information output of communication radio station is connected with the bottom surface receiving station.
In the above technical scheme, the lithium battery pack is a storage device of a solar panel, the solar panel is connected with the lithium battery, and the converted electric energy is stored in the lithium battery; the lithium battery is respectively connected with the steering engine, the communication radio station, the sensor, the driving motor, the driving controller, the GPS module and the speed sensor to provide electric power energy for the lithium battery.
The technical scheme of the invention has the advantages that:
(1) The wave glider does not need to carry energy for driving, and compared with the existing wave glider, the driving mechanism is directly positioned on the unmanned water surface vehicle.
(2) The cable connection in the middle is removed, so that the wave glider can be more suitable for different wave environments compared with the existing wave glider, and compared with the existing wave glider, the wave glider is as shown in fig. 4: the pitching motion of the floating body under the action of waves is used as power for driving the wing panels, when the waves are upward, the ship body moves upwards, the speed sensor controls the driving wing panels to deflect downwards to a fixed angle through the controller and the limiting system after detecting the upward speed, the water flow generates downward and forward driving force to the wing panels, when the waves are downward, the ship body moves downwards, the speed sensor controls the driving wing panels to deflect upwards to the fixed angle through the controller and the limiting system after detecting the downward speed, and the water flow generates upward and forward driving force to the wing panels. The conventional wave energy glider does not control the driving of the deflection of the wing panels, and the driving wing panels are passively deflected only by the action of water flow, as shown in fig. 5: when the ship body reaches the bottom and moves upwards, if the motor-free driving wing piece rotates, the driving wing piece is simply driven by water flow to rotate, and the driving wing piece deflects to the horizontal from the upward angle, so that a negative driving force is generated.
(3) According to the invention, the elastic system, the limiting system and the driving system are internally arranged and sealed in the connecting rod, and the speed sensor is used for monitoring the movement of the aircraft, so that the process of negative direction driving is avoided, and meanwhile, the device has the characteristics of better tightness and longer service life, and has better maneuverability and cruising ability.
(4) The invention uses green energy wave energy as direct driving force and solar energy to provide electric energy for unmanned surface vehicle; the steering engine controls the rotation of the blades to realize a steering function; the autonomous cruise control of the controller is used for realizing the purpose that the unmanned water surface vehicle sails along a preset track; transmitting various hydrologic information obtained by the detection sensor assembly to the ground station through a communication system; and in turn, unmanned monitoring of marine environments and resources over a large range and for a long time can be realized.
Drawings
Fig. 1: an overall structure schematic diagram of an unmanned surface vehicle;
fig. 2: an internal structure schematic diagram of a front connecting rod of the unmanned surface vehicle;
fig. 3: a structural schematic diagram of a rudder cabin of the unmanned surface vehicle;
fig. 4: a driving schematic diagram of the unmanned aircraft;
fig. 5: a defect map of the aircraft if the limit system is not actuated;
wherein: 1 is an aircraft hull, 2 is a sensor, 3 is a rear support plate, 4 is a rear support rod, 5 is a rear driving fin, 6 is a rear connecting rod, 7 is a steering engine fin, 8 is a rudder cabin, 9 is a steering engine, 10 is a steering engine cabin cover, 11 is a communication radio station, 12 is a controller, 13 is a solar cell panel, 14 is a cabin cover plate, 15 is a lithium battery pack, 16 is a navigation control cabin cover plate, 17 is a driving controller, 18 is a speed sensor, 19 is a GPS module, 20 is a control navigation cabin, 21 is a front support rod, 22 is a front connecting rod, 23 is a front driving fin, 24 is a front support plate, 25 is a driving motor, 26 is a driving connecting rod, 27 is a driving gear, 28 is a sealing cover, 29 is a fin connecting rod, 30 is a driven gear, 31 is a bearing, 32 is a potential limiting block, and 33 is a pressure spring.
Detailed Description
The following detailed description of the technical scheme of the present invention is provided, but the present invention is not limited to the following descriptions:
the invention provides an unmanned surface vehicle, which comprises a vehicle body, a wave energy driving device, a communication system and an environment monitoring sensor assembly, wherein: the aircraft body assembly comprises an aircraft hull, a solar panel and a lithium battery pack; the wave energy driving device includes: the device comprises a wave energy component for acquiring power of the aircraft, a steering engine component for controlling the course of the aircraft, and a driving component for controlling the angle of a driving fin; the communication system comprises a communication antenna, a GPS and a controller:
the solar panel is connected with the solar panel controller and is connected to the storage battery through the solar panel controller for supplying power to the aircraft communication system, the environment monitoring sensor assembly and the steering engine part. The solar power generation system is used for supplying power to the communication and driving limiting system on the aircraft, and the aircraft takes wave energy as direct driving force.
The communication radio station in the communication system is arranged at the tail part of the aircraft and performs real-time data transmission with the ground station through the controller. The GPS module is arranged in a control navigation cabin at the front end of the aircraft, so that the real-time position can be conveniently measured, and accurate positioning can be realized. The speed sensor is arranged in a control navigation cabin at the front end of the aircraft, and the speed information of the aircraft is monitored at all times and transmitted to the driving controller and the controller so as to control the driving limiting system to control the angle of the driving wing panel.
The steering engine blades control steering engine rotation through the controller so as to control navigation of the whole aircraft, and the steering engine assembly controls steering of the aircraft; a driving controller positioned in the control navigation bin controls a driving motor in the driving limit system by utilizing the motion information of the monitoring speed sensor so as to control the deflection angle of the driving wing. Meanwhile, the controller controls the steering engine to realize the control of autonomous cruising of the unmanned water surface vehicle through the communication system and the positioning information of the GPS module in the control navigation bin, and navigates along a preset track, and various hydrologic information obtained by the sensor assembly is transmitted to the ground station through the communication system.
The wave energy driving system comprises a carbon fiber blade, a bearing, an elastic system, a driving motor, a speed sensor and a rotary navigation controller; the carbon fiber blade is connected with the bearing through a connecting rod; the bearing is connected with the aircraft; the carbon fiber blade can rotate around the shaft; the limiting system and the elastic system limit the rotation of the carbon fiber blade together; the motor realizes positive and negative rotation fixed angles through a monitoring speed sensor under the control of the controller so as to control the deflection angle of the driving wing panel; the motors for limiting driving and controlling angles are sealed in the connecting rod, so that normal operation under severe environment is ensured. The limiting system spring system, the limiting rod and the driving motor are formed together, and the elastic system is a pressure spring.
According to the unmanned water surface vehicle, the wave energy is used as a direct driving force, forward power is obtained through pitching motion of the vehicle under the action of the wave, steering engine components control steering of the vehicle, and positioning and track control of the unmanned water surface vehicle are achieved by controlling steering engine steering lamps through positioning information of a communication system; the hydrologic information and the like acquired by the environmental monitoring sensor are transmitted to the ground station through the communication system.
Example 1: the specific structure of the unmanned surface vehicle comprises:
an unmanned surface vehicle comprises a vehicle hull 1, a control navigation cabin 20 and a rudder cabin 8, wherein the control navigation cabin is positioned at the head part of the vehicle hull, and the rudder cabin is positioned at the tail part of the vehicle hull, as shown in fig. 1:
the ship body of the aircraft is provided with a lithium battery pack 15 and a controller 12 in a cabin, a solar panel 13 is arranged on the top surface of a cabin cover plate 14 of the ship body, and the solar panel is connected with a lithium battery through a solar panel controller; the cabin cover plate seals the lithium battery pack and the controller in the cabin of the ship body of the aircraft;
the control navigation cabin is characterized in that a driving controller 17, a speed sensor 18 and a GPS module 19 are arranged in the cabin body of the control navigation cabin, and a navigation control cabin cover plate 16 of the control navigation cabin seals the driving controller, the speed sensor and the GPS module in the cabin body; a front connecting rod 22 is arranged at the bottom of the cabin body and close to the head, front driving fins 23 are arranged at two ends of the front connecting rod, and a driving motor 25 is arranged inside the front connecting rod; the signal output end of the speed sensor is connected with the signal input end of the driving controller, the signal output end of the driving controller is connected with the driving motor, and the driving motor is connected with the front driving fin;
the rudder cabin 8 is characterized in that a steering engine 9 is arranged in the cabin body, a communication radio station 11 is arranged on the top surface of a steering engine cabin cover 10, and the steering engine is sealed in the cabin body of the rudder cabin by the steering engine cabin cover 10; a steering engine wing 7 is arranged at the bottom of the cabin body and close to the tail part, the steering engine wing is connected with a steering engine, the steering engine is connected with a signal output end of a controller 12, a signal input end of the controller is connected with a signal output end of a communication radio station, and a signal input end of the communication radio station is communicated with a signal output end of a GPS module 19; the position of the cabin bottom close to the head is provided with a rear connecting rod 6, two ends of the rear connecting rod are provided with rear driving fins 5, and a driving motor is also arranged in the rear connecting rod, and is connected with the rear driving fins and a signal output end of a driving controller 17 in the control navigation cabin.
Wherein:
the navigation control cabin 20 is characterized in that a front supporting rod 21 is vertically arranged at the bottom of the cabin body close to the head, a front supporting plate 24 is arranged at the tail end of the front supporting rod, and the plate surface of the front supporting plate is vertical to the front supporting rod; the lower part of the front supporting rod is provided with a front connecting rod 22 which is vertical to the front supporting rod and is positioned above the front supporting plate; the two ends of the front connecting rod are respectively connected with a front driving fin 23, the front driving fin is made of carbon fiber, and the fin plane of the front driving fin is vertical to the front supporting rod;
the front connecting rod is internally provided with a driving gear 27, a driven gear 30, a wing connecting rod 29, a bearing 31, a limiting block 32 and a pressure spring 33 besides the driving motor 25; wherein: the driving gear is meshed with the driven gear, and the diameters of the driving gear and the driven gear are parallel to the diameter of the front connecting rod; the driving motor is connected with a driving connecting rod 26, and the driving connecting rod penetrates through the driving gear; the wing panel connecting rod sequentially penetrates through the driven gear, the bearing and the pressure spring; the bearing and the driving motor are positioned on the same side of the driving gear and the driven gear; the bearing is connected to the external front driving wing 23 by a wing connection rod; the other end of the wing panel connecting rod is provided with a limiting block, the pressure spring is a C-shaped spring, the two ends of the pressure spring are opposite to the upper surface and the lower surface of the limiting block, and when the limiting block rotates upwards or downwards along with the wing panel connecting rod, the upper surface or the lower surface of the limiting block contacts with the upper end or the lower surface of the pressure spring so as to be limited by pressure; the front connecting rod is provided with a sealing cover 28 for sealing the driving motor, the driving connecting rod, the driving gear, the driven gear, the bearing, the limiting block and the pressure spring inside; the sealing cover is provided with a hole, the diameter of the hole is equal to that of the wing panel connecting rod, and the wing panel connecting rod passes through the hole to be connected with the external front driving wing panel;
the speed sensor 18 detects the upward or downward speed of the ship body along with the waves, the driver controller 17 receives the motion information sent by the speed sensor and then controls the driving motor 25 to operate, the front driving wing panel 23 rotates around the bearing 31 under the control of the driving motor so as to deflect upwards or downwards to a fixed angle of 0-45 degrees, and the water flow generates downward/upward and forward driving force on the front driving wing panel so as to acquire power for the aircraft; when the front driving wing is deflected by the angle again under the action of water flow, the front driving wing drives the wing connecting rod 29 to rotate, and the limiting block 32 on the wing connecting rod also rotates along with the wing connecting rod, at the moment, the pressure spring 33 is pressed to limit the wing connecting rod to rotate, and the front driving wing also stops rotating along with the wing connecting rod.
The rudder cabin 8 is vertically provided with a rear supporting rod 4 at the position of the bottom of the cabin body close to the head, the tail end of the rear supporting rod is provided with a rear supporting plate 3, and the plate surface of the rear supporting plate is vertical to the rear supporting rod; the lower part of the rear supporting rod is provided with a rear connecting rod 6 which is vertical to the rear supporting rod and is positioned above the rear supporting plate; two ends of the rear connecting rod are respectively connected with a piece of rear driving wing piece 5, the rear driving wing piece is made of carbon fiber, and the wing piece plane of the rear driving wing piece is vertical to the rear supporting rod;
the front connecting rod is the same in structure in the inner structure of the rear connecting rod, namely a driving motor, a driving gear, a driven gear, a wing connecting rod, a bearing, a limiting block and a pressure spring are arranged in the rear connecting rod; wherein: the driving gear is meshed with the driven gear, and the diameters of the driving gear and the driven gear are parallel to the diameter of the front connecting rod; the driving motor is connected with a driving connecting rod, and the driving connecting rod penetrates through the driving gear; the wing panel connecting rod sequentially penetrates through the driven gear, the bearing and the pressure spring; the bearing and the driving motor are positioned on the same side of the driving gear and the driven gear; the bearing is connected with an external rear driving fin 5 through a fin connecting rod; the other end of the wing panel connecting rod is provided with a limiting block, the pressure spring is a C-shaped spring, the two ends of the pressure spring are opposite to the upper surface and the lower surface of the limiting block, and when the limiting block rotates upwards or downwards along with the wing panel connecting rod, the upper surface or the lower surface of the limiting block contacts with the upper end or the lower surface of the pressure spring so as to be limited by pressure; the rear connecting rod 6 is also provided with a sealing cover, and the driving motor, the driving connecting rod, the driving gear, the driven gear, the bearing, the limiting block and the pressure spring are sealed inside the sealing cover; the sealing cover is provided with a hole, the diameter of the hole is equal to that of the wing panel connecting rod, and the wing panel connecting rod passes through the hole to be connected with an external rear driving wing panel;
the operation modes of each part and the rear driving wing in the rear connecting rod are the same as those of the front connecting rod and the front driving wing: the speed sensor 18 detects the upward or downward speed of the ship body along with the waves, the driver controller 17 receives the motion information sent by the speed sensor and then controls the driving motor in the rear connecting rod 6 to run, the rear driving wing 5 rotates around the bearing under the control of the driving motor so as to deflect upwards or downwards to a fixed angle of 0-45 degrees, and the water flow generates downward/upward and forward driving force on the rear driving wing so as to acquire power for the aircraft; when the rear driving wing panel deflects an angle again under the action of water flow, the rear driving wing panel drives the wing panel connecting rod to rotate, the limiting block on the wing panel connecting rod also rotates along with the wing panel connecting rod, at the moment, the pressure spring is pressed to limit the wing panel connecting rod to rotate, and the rear driving wing panel also stops rotating along with the wing panel connecting rod;
meanwhile, the GPS module 19 sends positioning information to the communication radio station 11, and the controller 12 receives the information of the communication radio station and then controls the steering engine 9 to operate so as to control the steering engine wing panel 7 to rotate to realize the positioning, steering and track control of the unmanned surface vehicle.
The unmanned water surface vehicle further comprises a detection sensor component, the detection component is a sensor 2 for detecting various hydrologic information, the sensor is mounted at the bottom, the side or the front of the vehicle body 1, the hydrologic information output end of the sensor is connected with the hydrologic information input end of the communication radio station, and the hydrologic information output end of the communication radio station is connected with the bottom surface receiving station.
The lithium battery is respectively connected with the steering engine 9, the communication radio station 11, the sensor 2, the driving motor 25, the driving controller 17, the controller 12, the GPS module 19 and the speed sensor 18 to provide electric power energy.
Example 2: the application of the unmanned surface vehicle of the embodiment 1 of the invention:
the unmanned water surface vehicle of the embodiment 1 of the invention is placed in the sea to carry out navigation measurement hydrologic information, and the unmanned water surface vehicle uses the pitching motion of the floating body under the action of waves as the power for driving the wing pieces:
when the ship body moves upwards, the speed sensor 18 monitors the upward speed of the ship body, and then the speed information is transmitted to the driver controller 17, the driver controller 17 receives the speed information and then controls the driving motors 25 in the front connecting rod 22 and the rear connecting rod 6 to operate, the front driving wing pieces 23 and the rear driving wing pieces 5 rotate around the respective bearings 31 under the control of the respective driving motors so as to deflect downwards to a fixed angle of 0-45 degrees, and water flow generates downward and forward driving forces on the front driving wing pieces and the rear driving wing pieces, so that power is obtained for the aircraft; when the front driving wing panel and the rear driving wing panel deflect by an angle under the action of water flow, the front driving wing panel and the rear driving wing panel drive the respective wing panel connecting rods 29 to rotate, and the limiting blocks 32 on the wing panel connecting rods also rotate along with the front driving wing panel and the rear driving wing panel, and at the moment, the pressure springs 33 are pressed to limit the wing panel connecting rods to rotate, and the front driving wing panel and the rear driving wing panel also stop rotating along with the wing panel connecting rods.
When the ship body moves downwards, the speed sensor 18 monitors the downward speed of the ship body, and then the speed information is transmitted to the driver controller 17, the driver controller 17 receives the speed information and then controls the driving motors 25 in the front connecting rod 22 and the rear connecting rod 6 to operate, the front driving wing pieces 23 and the rear driving wing pieces 5 rotate around the respective bearings 31 under the control of the respective driving motors so as to deflect upwards to a fixed angle of 0-45 degrees, and water flow generates upward and forward driving forces on the front driving wing pieces and the rear driving wing pieces, so that power is obtained for the aircraft; when the front driving wing panel and the rear driving wing panel deflect by an angle under the action of water flow, the front driving wing panel and the rear driving wing panel drive the respective wing panel connecting rods 29 to rotate, and the limiting blocks 32 on the wing panel connecting rods also rotate along with the front driving wing panel and the rear driving wing panel, and at the moment, the pressure springs 33 are pressed to limit the wing panel connecting rods to rotate, and the front driving wing panel and the rear driving wing panel also stop rotating along with the wing panel connecting rods.
Meanwhile, the GPS module 19 sends the positioning information of the sea area to the communication radio station 11, the controller 12 receives the information of the communication radio station and then controls the steering engine 9 to run, and the steering engine runs to drive the steering engine wing panel to rotate, so that the positioning, steering and track control of the unmanned surface vehicle are realized.
The sensor 12 for detecting various kinds of hydrologic information transmits the detected various kinds of hydrologic information to a communication station, and the communication station feeds back the hydrologic information to the ground communication station.
According to the embodiment, the vehicle takes wave energy as direct driving force, forward power is obtained through pitching motion of the vehicle under the action of the wave, steering engine components control steering of the vehicle, and positioning information of a communication system is utilized to realize positioning and track control of the unmanned water surface vehicle by controlling steering engine steering. The hydrologic information and the like acquired by the environmental monitoring sensor are transmitted to the ground station through the communication system.
The conventional wave energy glider does not control the driving of the deflection of the wing panels, and the driving wing panels are passively deflected only by the action of water flow, as shown in fig. 5: when the ship body arrives at the bottom and moves upwards, if the motor-driven wing panel rotates, the wing panel is driven to rotate by water flow only, and a negative direction driving force is generated in the process of deflecting from an upward angle to a horizontal direction.
The foregoing examples are merely illustrative of the technical concept and technical features of the present invention, and are not intended to limit the scope of the present invention. All equivalent changes or modifications made according to the essence of the present invention should be included in the scope of the present invention.

Claims (10)

1. An unmanned water surface vehicle comprises a vehicle hull (1), a control navigation cabin (20) and a rudder cabin (8), wherein the control navigation cabin is positioned at the head of the vehicle hull, and the rudder cabin is positioned at the tail of the vehicle hull; the method is characterized in that:
the ship body of the aircraft is characterized in that a lithium battery pack (15) and a controller (12) are arranged in a cabin of the ship body, a solar panel (13) is arranged on the top surface of a cabin cover plate (14) of the ship body, and the solar panel is connected with a lithium battery through a solar panel controller; the cabin cover plate seals the lithium battery pack and the controller in the cabin of the ship body of the aircraft;
the control navigation cabin is characterized in that a driving controller (17), a speed sensor (18) and a GPS module (19) are arranged in the cabin body of the control navigation cabin, and a navigation control cabin cover plate (16) of the control navigation cabin seals the driving controller, the speed sensor and the GPS module in the cabin body; a front connecting rod (22) is arranged at the bottom of the cabin body and close to the head, front driving fins (23) are arranged at two ends of the front connecting rod, and a driving motor (25) is arranged in the front connecting rod; the signal output end of the speed sensor is connected with the signal input end of the driving controller, the signal output end of the driving controller is connected with the driving motor, and the driving motor is connected with the front driving fin;
the rudder cabin (8) is characterized in that a steering engine (9) is arranged in the cabin body, a communication radio station (11) is arranged on the top surface of a steering engine cabin cover (10), and the steering engine cabin cover (10) seals the steering engine in the cabin body of the rudder cabin; a steering engine wing (7) is arranged at the bottom of the cabin body and close to the tail part, the steering engine wing is connected with a steering engine, the steering engine is connected with a signal output end of a controller (12), a signal input end of the controller is connected with a signal output end of a communication radio station, and a signal input end of the communication radio station is communicated with a signal output end of a GPS module (19); the position of cabin body bottom near the head is provided with back connecting rod (6), and the both ends of back connecting rod are provided with back drive fin (5), and back connecting rod inside is provided with driving motor equally, and this driving motor is connected with back drive fin, and is connected with the signal output part of the drive controller (17) in the control navigation cabin.
2. The unmanned surface vehicle of claim 1, wherein: the control navigation cabin (20) is characterized in that a front supporting rod (21) is vertically arranged at the bottom of the cabin body and close to the head, a front supporting plate (24) is arranged at the tail end of the front supporting rod, and the plate surface of the front supporting plate is perpendicular to the front supporting rod; the lower part of the front supporting rod is provided with a front connecting rod (22), and the front connecting rod is vertical to the front supporting rod and is positioned above the front supporting plate; the two ends of the front connecting rod are respectively connected with a front driving fin (23), the front driving fin is made of carbon fiber, and the fin plane of the front driving fin is perpendicular to the front supporting rod.
3. The unmanned surface vehicle of claim 2, wherein: the front connecting rod (22) is internally provided with a driving gear (27), a driven gear (30), a wing panel connecting rod (29), a bearing (31), a limiting block (32) and a pressure spring (33) besides a driving motor (25); wherein: the driving gear is meshed with the driven gear, and the diameters of the driving gear and the driven gear are parallel to the diameter of the front connecting rod; the driving motor is connected with a driving connecting rod (26), and the driving connecting rod penetrates through the driving gear; the wing panel connecting rod sequentially penetrates through the driven gear, the bearing and the pressure spring; the bearing and the driving motor are positioned on the same side of the driving gear and the driven gear; the bearing is connected with an external front driving fin (23) through a fin connecting rod; the other end of the wing panel connecting rod is provided with a limiting block, the pressure spring is a C-shaped spring, and the two ends of the pressure spring are opposite to the upper surface and the lower surface of the limiting block; the front connecting rod is provided with a sealing cover (28) for sealing the driving motor, the driving connecting rod, the driving gear, the driven gear, the bearing, the limiting block and the pressure spring inside; the sealing cover is provided with a hole, the diameter of the hole is equal to that of the wing panel connecting rod, and the wing panel connecting rod penetrates through the hole to be connected with the external front driving wing panel.
4. The unmanned surface vehicle of claim 3, wherein: the speed sensor (18) detects the upward or downward speed of the ship body along with waves, the driver controller (17) controls the driving motor (25) to operate after receiving the motion information sent by the speed sensor, the front driving wing panel (23) rotates around the bearing (31) under the control of the driving motor so as to deflect an angle upwards or downwards to a fixed angle of 0-45 degrees, and the water flow generates downward/upward and forward driving force for the front driving wing panel, so that power is obtained for the aircraft; when the front driving wing panel deflects by an angle under the action of water flow, the front driving wing panel drives the wing panel connecting rod (29) to rotate, and a limiting block (32) on the wing panel connecting rod also rotates along with the wing panel connecting rod, at the moment, the pressure spring (33) is pressed to limit the wing panel connecting rod to rotate, and the front driving wing panel also stops rotating along with the wing panel connecting rod.
5. The unmanned surface vehicle of claim 1, wherein: the rudder cabin (8) is characterized in that a rear supporting rod (4) is vertically arranged at the bottom of the cabin body close to the head, a rear supporting plate (3) is arranged at the tail end of the rear supporting rod, and the plate surface of the rear supporting plate is perpendicular to the rear supporting rod; the lower part of the rear supporting rod is provided with a rear connecting rod (6), and the rear connecting rod is vertical to the rear supporting rod and is positioned above the rear supporting plate; two ends of the rear connecting rod are respectively connected with a rear driving wing piece (5), the rear driving wing piece is made of carbon fiber, and the wing piece plane of the rear driving wing piece is perpendicular to the rear supporting rod.
6. The unmanned surface vehicle of claim 5, wherein: the rear connecting rod (6) has the same internal structure as the front connecting rod in claim 3, namely, a driving motor, a driving gear, a driven gear, a wing connecting rod, a bearing, a limiting block and a pressure spring are arranged in the rear connecting rod; wherein: the driving gear is meshed with the driven gear, and the diameters of the driving gear and the driven gear are parallel to the diameter of the front connecting rod; the driving motor is connected with a driving connecting rod, and the driving connecting rod penetrates through the driving gear; the wing panel connecting rod sequentially penetrates through the driven gear, the bearing and the pressure spring; the bearing and the driving motor are positioned on the same side of the driving gear and the driven gear; the bearing is connected with an external rear driving fin (5) through a fin connecting rod; the other end of the wing panel connecting rod is provided with a limiting block, the pressure spring is a C-shaped spring, and the two ends of the pressure spring are opposite to the upper surface and the lower surface of the limiting block; the rear connecting rod (6) is also provided with a sealing cover, and the driving motor, the driving connecting rod, the driving gear, the driven gear, the bearing, the limiting block and the pressure spring are sealed in the rear connecting rod; the sealing cover is provided with a hole, the diameter of the hole is equal to that of the wing panel connecting rod, and the wing panel connecting rod penetrates through the hole to be connected with the external rear driving wing panel.
7. The unmanned surface vehicle of claim 6, wherein: the operation modes of each part and the rear driving wing in the rear connecting rod are the same as those of the front connecting rod and the front driving wing: the speed sensor (18) detects the upward or downward speed of the ship body along with waves, the driver controller (17) receives the motion information sent by the speed sensor and then controls the driving motor in the rear connecting rod (6) to run, the rear driving wing (5) rotates around the bearing under the control of the driving motor so as to deflect an angle upwards or downwards to a fixed angle of 0-45 degrees, and the water flow generates downward/upward and forward driving force for the rear driving wing so as to acquire power for the aircraft; when the rear driving wing panel deflects an angle again under the action of water flow, the rear driving wing panel drives the wing panel connecting rod to rotate, the limiting block on the wing panel connecting rod also rotates along with the wing panel connecting rod, and at the moment, the pressure spring is pressed to limit the wing panel connecting rod to rotate, and the rear driving wing panel also stops rotating along with the wing panel connecting rod.
8. The unmanned surface vehicle of claim 1, wherein: the GPS module (19) sends positioning information to the communication radio station (11), and the controller (12) receives the information of the communication radio station and then controls the steering engine (9) to operate so as to control the steering engine wing panel (7) to rotate, so that the unmanned surface vehicle is positioned, steered and controlled in track.
9. The unmanned surface vehicle of claim 1, wherein: the unmanned water surface vehicle further comprises a detection sensor component, the detection component is a sensor (2) for detecting various hydrologic information, the unmanned water surface vehicle is carried on the bottom, the side or the front of the vehicle body (1), the hydrologic information output end of the sensor is connected with the hydrologic information input end of a communication radio station, and the hydrologic information output end of the communication radio station is connected with a bottom surface receiving station.
10. The unmanned surface vehicle of claim 1 or 9, wherein: the lithium battery pack (15) is a power storage device of a solar panel (13), and the solar panel is connected with the lithium battery to store the converted electric energy into the lithium battery; the lithium battery is respectively connected with the steering engine (9), the communication radio station (11), the sensor (2), the driving motor (25), the driving controller (17), the controller (12), the GPS module (19) and the speed sensor (18) to provide electric power energy for the lithium battery.
CN201710556201.3A 2017-07-10 2017-07-10 Unmanned surface vehicle Active CN107310707B (en)

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